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<div class="title">fitting_curve_2d_apdm.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef NURBS_FITTING_CURVE_2D_APDM_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define NURBS_FITTING_CURVE_2D_APDM_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_tools.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_data.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_solve.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>on_nurbs</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html">   55</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html">FittingCurve2dAPDM</a></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_parameter.html">   60</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_parameter.html">Parameter</a></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;          <span class="keywordtype">double</span> interior_sigma2;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;          <span class="keywordtype">double</span> smoothness;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;          <span class="keywordtype">double</span> closest_point_weight;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;          <span class="keywordtype">double</span> closest_point_sigma2;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;          <span class="keywordtype">unsigned</span> closest_point_resolution;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;          <span class="keywordtype">double</span> smooth_concavity;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          <span class="keywordtype">double</span> rScale;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;          <a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_parameter.html">Parameter</a> () :</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;            interior_sigma2 (0.1), smoothness (0.1), closest_point_weight (0.1), closest_point_sigma2 (0.1),</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                closest_point_resolution (0), smooth_concavity (1.0), rScale (1.0)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        };</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_fit_parameter.html">   76</a></span>&#160;        <span class="keyword">struct </span><a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_fit_parameter.html">FitParameter</a></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;          <a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_parameter.html">pcl::on_nurbs::FittingCurve2dAPDM::Parameter</a> param;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;          <span class="keywordtype">double</span> addCPsAccuracy;        <span class="comment">// add CPs at points where this threshold is exceeded</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;          <span class="keywordtype">unsigned</span> addCPsIteration;     <span class="comment">// add CPs at every &quot;addCPsIteration&quot; iteration</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          <span class="keywordtype">unsigned</span> maxCPs;              <span class="comment">// maximum number of CPs</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;          <span class="keywordtype">double</span> accuracy;              <span class="comment">// threshold for incremental change of CPs (termination criterion)</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;          <span class="keywordtype">unsigned</span> iterations;          <span class="comment">// maximum number of fitting iterations</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        };</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="class_o_n___text_log.html">ON_TextLog</a> m_out;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> m_nurbs;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *m_data;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a7cca6d86808902083c28d08990cf68a4">   94</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a7cca6d86808902083c28d08990cf68a4">FittingCurve2dAPDM</a> (<span class="keywordtype">int</span> order, <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a0abe242a017815e2eb2f6d6cac52b893">   99</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a0abe242a017815e2eb2f6d6cac52b893">FittingCurve2dAPDM</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">NurbsDataCurve2d</a> *data, <span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nc);</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a32608f34ffb28d8164f4a0afa1957a9a">  106</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a32608f34ffb28d8164f4a0afa1957a9a">findElement</a> (<span class="keywordtype">double</span> xi, <span class="keyword">const</span> std::vector&lt;double&gt; &amp;elements);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a73571ec1a547d0b019de0e1c0d83130f">  110</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a73571ec1a547d0b019de0e1c0d83130f">refine</a> ();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a967fc8e2da5f2aaa678e872b21a79435">  115</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a967fc8e2da5f2aaa678e872b21a79435">refine</a> (<span class="keywordtype">double</span> xi);</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a5b0a2a58fc0fe42309ed439835e329c4">  120</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a5b0a2a58fc0fe42309ed439835e329c4">fitting</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_fit_parameter.html">FitParameter</a> &amp;param);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#aa24474dc03b664b759949f465ac8619c">  126</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#aa24474dc03b664b759949f465ac8619c">assemble</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_parameter.html">Parameter</a> &amp;parameter);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a49b84bf815f16796a9c53b4f21dfc431">  131</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a49b84bf815f16796a9c53b4f21dfc431">solve</a> (<span class="keywordtype">double</span> damp = 1.0);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ad8f2d9db2ed5d81979adf7ff23becb75">  136</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ad8f2d9db2ed5d81979adf7ff23becb75">updateCurve</a> (<span class="keywordtype">double</span> damp);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ad1cf0caa6e27d99897a49ff120701859">  142</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ad1cf0caa6e27d99897a49ff120701859">addCPsOnClosestPointViolation</a> (<span class="keywordtype">double</span> max_error);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keyword">static</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a78bd11b6f5af180ba1e63acf15154523">  149</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a78bd11b6f5af180ba1e63acf15154523">removeCPsOnLine</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keywordtype">double</span> min_curve_th = -0.9);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keyword">static</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ab32afff43b651449f6ab6bd65642f8e2">  156</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ab32afff43b651449f6ab6bd65642f8e2">initCPsNurbsCurve2D</a> (<span class="keywordtype">int</span> order, <span class="keyword">const</span> vector_vec2d &amp;cps);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keyword">static</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ac3276e6bdc7eafad29866dfc9cd01b6b">  165</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ac3276e6bdc7eafad29866dfc9cd01b6b">initNurbsCurve2D</a> (<span class="keywordtype">int</span> order, <span class="keyword">const</span> vector_vec2d &amp;data, <span class="keywordtype">int</span> ncps = 0, <span class="keywordtype">double</span> radiusF = 1.0);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="comment">//  static ON_NurbsCurve initNurbsCurvePCA(int order, const vector_vec2d &amp;data);</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keyword">static</span> std::vector&lt;double&gt;</div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a7cd91c1d48ec829d6918e149a0dd38cb">  170</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a7cd91c1d48ec829d6918e149a0dd38cb">getElementVector</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#aaa2b27bf0e7caf8e2ea25c04c1db8494">  184</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#aaa2b27bf0e7caf8e2ea25c04c1db8494">inverseMapping</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector2d &amp;pt, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;hint, <span class="keywordtype">double</span> &amp;error,</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                        Eigen::Vector2d &amp;p, Eigen::Vector2d &amp;t, <span class="keywordtype">double</span> rScale, <span class="keywordtype">int</span> maxSteps = 100,</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                        <span class="keywordtype">double</span> accuracy = 1e-6, <span class="keywordtype">bool</span> quiet = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        inverseMappingO2 (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector2d &amp;pt, <span class="keywordtype">double</span> &amp;error, Eigen::Vector2d &amp;p,</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;                          Eigen::Vector2d &amp;t);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#adf61a3339b2bc2e31cb03a2339e11559">  197</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#adf61a3339b2bc2e31cb03a2339e11559">findClosestElementMidPoint</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector2d &amp;pt);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        findClosestElementMidPoint (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector2d &amp;pt, <span class="keywordtype">double</span> hint);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#abcf19fba805ad63a5d7b5ef9188196f1">  203</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#abcf19fba805ad63a5d7b5ef9188196f1">setQuiet</a> (<span class="keywordtype">bool</span> val)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          m_quiet = val;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          m_solver.setQuiet (val);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#aa41ecfad259dc824eb6eb4a56a6ed7b4">  211</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#aa41ecfad259dc824eb6eb4a56a6ed7b4">setInverseParams</a> (<span class="keywordtype">int</span> max_steps = 200, <span class="keywordtype">double</span> accuracy = 1e-6)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;          in_max_steps = max_steps;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;          in_accuracy = accuracy;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        }</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a9d846aa271095c31271d41812e6507e6">  220</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a9d846aa271095c31271d41812e6507e6">addPointConstraint</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> &amp;param, <span class="keyword">const</span> Eigen::Vector2d &amp;point, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ad46c5a0af6fc57c3bf6e615dcfa35445">  224</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ad46c5a0af6fc57c3bf6e615dcfa35445">addCageRegularisation</a> (<span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row, <span class="keyword">const</span> std::vector&lt;double&gt; &amp;elements, <span class="keywordtype">double</span> wConcav = 0.0);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00228"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a34d7bdc314dcf57fb3ee2c7e9b160020">  228</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a34d7bdc314dcf57fb3ee2c7e9b160020">assembleInterior</a> (<span class="keywordtype">double</span> wInt, <span class="keywordtype">double</span> sigma2, <span class="keywordtype">double</span> rScale, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#af5a6a4d54c8e6163a9b73ffc04da87a1">  233</a></span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#af5a6a4d54c8e6163a9b73ffc04da87a1">assembleClosestPoints</a> (<span class="keyword">const</span> std::vector&lt;double&gt; &amp;elements, <span class="keywordtype">double</span> weight, <span class="keywordtype">double</span> sigma2,</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;                               <span class="keywordtype">unsigned</span> samples_per_element, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <a class="code" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">NurbsSolve</a> m_solver;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keywordtype">bool</span> m_quiet;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordtype">int</span> in_max_steps;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;        <span class="keywordtype">double</span> in_accuracy;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    };</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;}</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclass_o_n___nurbs_curve_html"><div class="ttname"><a href="class_o_n___nurbs_curve.html">ON_NurbsCurve</a></div><div class="ttdef"><b>Definition:</b> opennurbs_nurbscurve.h:30</div></div>
<div class="ttc" id="aclass_o_n___text_log_html"><div class="ttname"><a href="class_o_n___text_log.html">ON_TextLog</a></div><div class="ttdef"><b>Definition:</b> opennurbs_textlog.h:23</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html">pcl::on_nurbs::FittingCurve2dAPDM</a></div><div class="ttdoc">Fitting a 2D B-Spline curve to 2D point-clouds using asymmetric point-distance-minimization Based on ...</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d_apdm.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a0abe242a017815e2eb2f6d6cac52b893"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a0abe242a017815e2eb2f6d6cac52b893">pcl::on_nurbs::FittingCurve2dAPDM::FittingCurve2dAPDM</a></div><div class="ttdeci">FittingCurve2dAPDM(NurbsDataCurve2d *data, const ON_NurbsCurve &amp;nc)</div><div class="ttdoc">Constructor initializing with the B-Spline curve given in argument 2.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a32608f34ffb28d8164f4a0afa1957a9a"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a32608f34ffb28d8164f4a0afa1957a9a">pcl::on_nurbs::FittingCurve2dAPDM::findElement</a></div><div class="ttdeci">static int findElement(double xi, const std::vector&lt; double &gt; &amp;elements)</div><div class="ttdoc">Find the element in which the parameter xi lies.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a34d7bdc314dcf57fb3ee2c7e9b160020"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a34d7bdc314dcf57fb3ee2c7e9b160020">pcl::on_nurbs::FittingCurve2dAPDM::assembleInterior</a></div><div class="ttdeci">virtual void assembleInterior(double wInt, double sigma2, double rScale, unsigned &amp;row)</div><div class="ttdoc">Assemble point-to-curve constraints.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a49b84bf815f16796a9c53b4f21dfc431"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a49b84bf815f16796a9c53b4f21dfc431">pcl::on_nurbs::FittingCurve2dAPDM::solve</a></div><div class="ttdeci">virtual double solve(double damp=1.0)</div><div class="ttdoc">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake),...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a5b0a2a58fc0fe42309ed439835e329c4"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a5b0a2a58fc0fe42309ed439835e329c4">pcl::on_nurbs::FittingCurve2dAPDM::fitting</a></div><div class="ttdeci">void fitting(FitParameter &amp;param)</div><div class="ttdoc">Fitting with iterative refinement and adaptive knot insertion</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a73571ec1a547d0b019de0e1c0d83130f"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a73571ec1a547d0b019de0e1c0d83130f">pcl::on_nurbs::FittingCurve2dAPDM::refine</a></div><div class="ttdeci">void refine()</div><div class="ttdoc">Refines curve by inserting a knot in the middle of each element.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a78bd11b6f5af180ba1e63acf15154523"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a78bd11b6f5af180ba1e63acf15154523">pcl::on_nurbs::FittingCurve2dAPDM::removeCPsOnLine</a></div><div class="ttdeci">static ON_NurbsCurve removeCPsOnLine(const ON_NurbsCurve &amp;nurbs, double min_curve_th=-0.9)</div><div class="ttdoc">Removes control points when it is collinear with its neighboring control points.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a7cca6d86808902083c28d08990cf68a4"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a7cca6d86808902083c28d08990cf68a4">pcl::on_nurbs::FittingCurve2dAPDM::FittingCurve2dAPDM</a></div><div class="ttdeci">FittingCurve2dAPDM(int order, NurbsDataCurve2d *data)</div><div class="ttdoc">Constructor initializing B-Spline curve using initNurbsCurve2D(...).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a7cd91c1d48ec829d6918e149a0dd38cb"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a7cd91c1d48ec829d6918e149a0dd38cb">pcl::on_nurbs::FittingCurve2dAPDM::getElementVector</a></div><div class="ttdeci">static std::vector&lt; double &gt; getElementVector(const ON_NurbsCurve &amp;nurbs)</div><div class="ttdoc">Get the elements of a B-Spline curve.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a967fc8e2da5f2aaa678e872b21a79435"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a967fc8e2da5f2aaa678e872b21a79435">pcl::on_nurbs::FittingCurve2dAPDM::refine</a></div><div class="ttdeci">void refine(double xi)</div><div class="ttdoc">Refines curve by inserting a knot in the middle of the element belonging to xi.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_a9d846aa271095c31271d41812e6507e6"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#a9d846aa271095c31271d41812e6507e6">pcl::on_nurbs::FittingCurve2dAPDM::addPointConstraint</a></div><div class="ttdeci">virtual void addPointConstraint(const double &amp;param, const Eigen::Vector2d &amp;point, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: point-to-curve distance (point-distance-minimization).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_aa24474dc03b664b759949f465ac8619c"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#aa24474dc03b664b759949f465ac8619c">pcl::on_nurbs::FittingCurve2dAPDM::assemble</a></div><div class="ttdeci">virtual void assemble(const Parameter &amp;parameter)</div><div class="ttdoc">Assemble the system of equations for fitting</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_aa41ecfad259dc824eb6eb4a56a6ed7b4"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#aa41ecfad259dc824eb6eb4a56a6ed7b4">pcl::on_nurbs::FittingCurve2dAPDM::setInverseParams</a></div><div class="ttdeci">void setInverseParams(int max_steps=200, double accuracy=1e-6)</div><div class="ttdoc">Set parameters for inverse mapping.</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d_apdm.h:211</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_aaa2b27bf0e7caf8e2ea25c04c1db8494"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#aaa2b27bf0e7caf8e2ea25c04c1db8494">pcl::on_nurbs::FittingCurve2dAPDM::inverseMapping</a></div><div class="ttdeci">static double inverseMapping(const ON_NurbsCurve &amp;nurbs, const Eigen::Vector2d &amp;pt, const double &amp;hint, double &amp;error, Eigen::Vector2d &amp;p, Eigen::Vector2d &amp;t, double rScale, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</div><div class="ttdoc">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-S...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_ab32afff43b651449f6ab6bd65642f8e2"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ab32afff43b651449f6ab6bd65642f8e2">pcl::on_nurbs::FittingCurve2dAPDM::initCPsNurbsCurve2D</a></div><div class="ttdeci">static ON_NurbsCurve initCPsNurbsCurve2D(int order, const vector_vec2d &amp;cps)</div><div class="ttdoc">Initialize a closed B-Spline curve given a list of control points.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_abcf19fba805ad63a5d7b5ef9188196f1"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#abcf19fba805ad63a5d7b5ef9188196f1">pcl::on_nurbs::FittingCurve2dAPDM::setQuiet</a></div><div class="ttdeci">void setQuiet(bool val)</div><div class="ttdoc">Enable/Disable debug outputs in console.</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d_apdm.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_ac3276e6bdc7eafad29866dfc9cd01b6b"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ac3276e6bdc7eafad29866dfc9cd01b6b">pcl::on_nurbs::FittingCurve2dAPDM::initNurbsCurve2D</a></div><div class="ttdeci">static ON_NurbsCurve initNurbsCurve2D(int order, const vector_vec2d &amp;data, int ncps=0, double radiusF=1.0)</div><div class="ttdoc">Initialize a closed B-Spline curve using the bounding circle of the point-cloud.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_ad1cf0caa6e27d99897a49ff120701859"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ad1cf0caa6e27d99897a49ff120701859">pcl::on_nurbs::FittingCurve2dAPDM::addCPsOnClosestPointViolation</a></div><div class="ttdeci">void addCPsOnClosestPointViolation(double max_error)</div><div class="ttdoc">Adds control points in the middle and of elements, if the ends or the middle of the element is farthe...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_ad46c5a0af6fc57c3bf6e615dcfa35445"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ad46c5a0af6fc57c3bf6e615dcfa35445">pcl::on_nurbs::FittingCurve2dAPDM::addCageRegularisation</a></div><div class="ttdeci">virtual void addCageRegularisation(double weight, unsigned &amp;row, const std::vector&lt; double &gt; &amp;elements, double wConcav=0.0)</div><div class="ttdoc">Add minimization constraint: smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_ad8f2d9db2ed5d81979adf7ff23becb75"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#ad8f2d9db2ed5d81979adf7ff23becb75">pcl::on_nurbs::FittingCurve2dAPDM::updateCurve</a></div><div class="ttdeci">virtual double updateCurve(double damp)</div><div class="ttdoc">Update curve according to the current system of equations.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_adf61a3339b2bc2e31cb03a2339e11559"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#adf61a3339b2bc2e31cb03a2339e11559">pcl::on_nurbs::FittingCurve2dAPDM::findClosestElementMidPoint</a></div><div class="ttdeci">static double findClosestElementMidPoint(const ON_NurbsCurve &amp;nurbs, const Eigen::Vector2d &amp;pt)</div><div class="ttdoc">Given a point pt, the function finds the closest midpoint of the elements of the curve.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_html_af5a6a4d54c8e6163a9b73ffc04da87a1"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m.html#af5a6a4d54c8e6163a9b73ffc04da87a1">pcl::on_nurbs::FittingCurve2dAPDM::assembleClosestPoints</a></div><div class="ttdeci">virtual void assembleClosestPoints(const std::vector&lt; double &gt; &amp;elements, double weight, double sigma2, unsigned samples_per_element, unsigned &amp;row)</div><div class="ttdoc">Assemble closest points constraints. At each midpoint of the curve elements the closest data points a...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_nurbs_solve_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">pcl::on_nurbs::NurbsSolve</a></div><div class="ttdoc">Solving the linear system of equations using Eigen or UmfPack. (can be defined in on_nurbs....</div><div class="ttdef"><b>Definition:</b> nurbs_solve.h:54</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_fit_parameter_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_fit_parameter.html">pcl::on_nurbs::FittingCurve2dAPDM::FitParameter</a></div><div class="ttdef"><b>Definition:</b> fitting_curve_2d_apdm.h:77</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_parameter_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_fitting_curve2d_a_p_d_m_1_1_parameter.html">pcl::on_nurbs::FittingCurve2dAPDM::Parameter</a></div><div class="ttdoc">Parameters for fitting</div><div class="ttdef"><b>Definition:</b> fitting_curve_2d_apdm.h:61</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_nurbs_data_curve2d_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_nurbs_data_curve2d.html">pcl::on_nurbs::NurbsDataCurve2d</a></div><div class="ttdoc">Data structure for 2D NURBS curve fitting (FittingCurve2d, FittingCurve2dTDM, FittingCurve2dSDM)</div><div class="ttdef"><b>Definition:</b> nurbs_data.h:167</div></div>
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